Vehicle traveling control device, vehicle traveling control method, control circuit, and storage medium

Abstract

A vehicle traveling control device includes: a communicator periodically receiving a dynamic map; a sensor management circuit collecting, from one or more sensors measuring a state of objects around a vehicle, a result of measurement representing the state of objects around the vehicle; a surrounding information comparator comparing object data represented by the dynamic map with object data represented by the result of measurement, and in response to finding mismatching object data, detecting, from the mismatching object data, data of the dynamic map representing an object within a specified range from the vehicle; and a proximity information processor setting, from the data of the dynamic map detected by the surrounding information comparator, data representing the vehicle as an avoidance non-target object in traveling control, and setting data representing an object other than the vehicle as an avoidance target object in traveling control or the avoidance non-target object.

What is claimed is: 
     
       1. A vehicle traveling control device comprising:
 a communication circuit to periodically receive a dynamic map representing a state of objects; 
 a vehicle-mounted sensor management circuit to collect, from one or more sensors mounted on a vehicle to measure a state of objects around the vehicle, a result of measurement representing the state of objects around the vehicle; 
 a comparator to compare object data represented by the dynamic map with object data represented by the result of measurement, and in response to finding mismatching object data, detect, from the mismatching object data, data of the dynamic map representing an object located within a specified range from the vehicle; and 
 a proximity information processor to set, from the data of the dynamic map detected by the comparator, data representing the vehicle as an avoidance non-target object that is an object to be excluded from objects to be avoided in traveling control for the vehicle, and set data representing an object other than the vehicle as an avoidance target object that is an object to be avoided in traveling control for the vehicle or as the avoidance non-target object, such that the vehicle traveling control device performs an object avoidance action to avoid colliding with the object based on the set avoidance target object. 
 
     
     
       2. The vehicle traveling control device according to  claim 1 , wherein
 when the data of the dynamic map detected by the comparator represents an object other than the vehicle, the proximity information processor warns, via the communication circuit, a device that creates the dynamic map of a sensor failure, and warns the vehicle-mounted sensor management circuit of a sensor failure. 
 
     
     
       3. The vehicle traveling control device according to  claim 1 , wherein
 when the data of the dynamic map detected by the comparator represents the vehicle, the proximity information processor does not warn a device that creates the dynamic map and the vehicle-mounted sensor management circuit of a sensor failure. 
 
     
     
       4. The vehicle traveling control device according to  claim 1 , wherein
 the proximity information processor sets, as the avoidance target object, from the data of the dynamic map detected by the comparator, data representing the object other than the vehicle in which the object represented by the data is either an object traveling ahead of the vehicle in the same traveling direction as the vehicle at a lower traveling speed than the vehicle or an object traveling behind the vehicle in the same traveling direction as the vehicle at a higher traveling speed than the vehicle. 
 
     
     
       5. The vehicle traveling control device according to  claim 1 , wherein
 the proximity information processor sets, as the avoidance non-target object, from the data of the dynamic map detected by the comparator, data representing the object other than the vehicle in which the object represented by the data does not correspond to any of an object traveling ahead of the vehicle in the same traveling direction as the vehicle at a lower traveling speed than the vehicle and an object traveling behind the vehicle in the same traveling direction as the vehicle at a higher traveling speed than the vehicle. 
 
     
     
       6. The vehicle traveling control device according to  claim 1 , wherein
 when comparing the object data represented by the dynamic map with the object data represented by the result of measurement, the comparator determines whether or not matching is found using one or more of a position, speed, and size of an object represented by the data. 
 
     
     
       7. The vehicle traveling control device according to  claim 1 , further comprising:
 a vehicle controller to control traveling of the vehicle using data of the object estimated to be one and the same object by comparing the object data represented by the dynamic map with the object data represented by the result of measurement in the comparator, and using information on the avoidance target object and the avoidance non-target object. 
 
     
     
       8. The vehicle traveling control device according to  claim 7 , wherein
 the vehicle controller controls traveling of the vehicle to avoid the object represented by the data set as the avoidance target object. 
 
     
     
       9. The vehicle traveling control device according to  claim 7 , wherein
 the vehicle controller controls traveling of the vehicle based on an existence probability distribution of obstacles using the data of an object estimated to be the one and the same object and the information on the avoidance target object. 
 
     
     
       10. The vehicle traveling control device according to  claim 7 , wherein
 the vehicle controller controls traveling of the vehicle based on an existence probability distribution of obstacles using the data of an object estimated to be the one and the same object and the data of the dynamic map determined by the proximity information processor to represent an object other than the vehicle. 
 
     
     
       11. A vehicle traveling control method comprising:
 a first step of periodically receiving a dynamic map representing a state of objects; 
 a second step of collecting, from one or more sensors mounted on a vehicle to measure a state of an object around the vehicle, a result of measurement representing a state of an object around the vehicle; 
 a third step of comparing object data represented by the dynamic map with object data represented by the result of measurement, and in response to finding mismatching object data, detecting, from the mismatching object data, data of the dynamic map representing an object located within a specified range from the vehicle; and 
 a fourth step of setting from the received dynamic map, data representing the vehicle as an avoidance non-target object that is an object to be excluded from objects to be avoided in traveling control for the vehicle, and setting data other than the data representing the vehicle as an avoidance target object that is an object to be avoided in traveling control for the vehicle or as the avoidance non-target object, to perform an object avoidance action to avoid colliding with the object based on the set avoidance target object. 
 
     
     
       12. A control circuit for controlling a vehicle traveling control device, the control circuit causing the vehicle traveling control device to perform:
 periodically receiving a dynamic map representing a state of objects; 
 collecting, from one or more sensors mounted on a vehicle to measure a state of objects around the vehicle, a result of measurement representing the state of objects around the vehicle; 
 comparing object data represented by the dynamic map with object data represented by the result of measurement, and in response to finding mismatching object data, detecting, from the mismatching object data, data of the dynamic map representing an object located within a specified range from the vehicle; and 
 setting, from the detected data of the dynamic map, data representing the vehicle as an avoidance non-target object that is an object to be excluded from objects to be avoided in traveling control for the vehicle, and setting data representing an object other than the vehicle as an avoidance target object that is an object to be avoided in traveling control for the vehicle or as the avoidance non-target object, to perform an object avoidance action to avoid colliding with the object based on the set avoidance target object. 
 
     
     
       13. A storage medium in which a program configured to control a vehicle traveling control device is stored, the program causing the vehicle traveling control device to perform:
 periodically receiving a dynamic map representing a state of objects; 
 collecting, from one or more sensors mounted on a vehicle to measure a state of objects around the vehicle, a result of measurement representing the state of objects around the vehicle; 
 comparing object data represented by the dynamic map with object data represented by the result of measurement, and in response to finding mismatching object data, detecting, from the mismatching object data, data of the dynamic map representing an object located within a specified range from the vehicle; and 
 setting, from the detected data of the dynamic map, data representing the vehicle as an avoidance non-target object that is an object to be excluded from objects to be avoided in traveling control for the vehicle, and setting data representing an object other than the vehicle as an avoidance target object that is an object to be avoided in traveling control for the vehicle or as the avoidance non-target object, to perform an object avoidance action to avoid colliding with the object based on the set avoidance target object.